Charles Khazoom

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20222026

most citedTailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots

53 citations · 78 across the 6 of their papers we have counts for

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cs.RO2026

WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $L D L^{⊤}$ Factorization

Henrik Hose, Se Hwan Jeon, Charles Khazoom +2

This paper introduces numerical optimizations for maximizing throughput on GPU when solving large batches (10,000 to over 100,000) of sequential quadratic programming (SQP) iterati…

WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled LDL⊤ Factorization

WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $L D L^{⊤}$ Factorization